<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Cheetah Software: FootSwingTrajectory&lt; T &gt; Class Template Reference</title>
<link href="../../tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../jquery.js"></script>
<script type="text/javascript" src="../../dynsections.js"></script>
<link href="../../navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../resize.js"></script>
<script type="text/javascript" src="../../navtreedata.js"></script>
<script type="text/javascript" src="../../navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="../../search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../search/searchdata.js"></script>
<script type="text/javascript" src="../../search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="../../doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Cheetah Software
   &#160;<span id="projectnumber">1.0</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "../../search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="../../index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="../../namespaces.html"><span>Namespaces</span></a></li>
      <li class="current"><a href="../../annotated.html"><span>Classes</span></a></li>
      <li><a href="../../files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="../../search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="../../search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="../../annotated.html"><span>Class&#160;List</span></a></li>
      <li><a href="../../classes.html"><span>Class&#160;Index</span></a></li>
      <li><a href="../../inherits.html"><span>Class&#160;Hierarchy</span></a></li>
      <li><a href="../../functions.html"><span>Class&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('da/d2d/class_foot_swing_trajectory.html','../../');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a> &#124;
<a href="../../d8/d91/class_foot_swing_trajectory-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">FootSwingTrajectory&lt; T &gt; Class Template Reference</div>  </div>
</div><!--header-->
<div class="contents">

<p><code>#include &lt;<a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>&gt;</code></p>
<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-0-trigger" src="../../closed.png" alt="+"/> Collaboration diagram for FootSwingTrajectory&lt; T &gt;:</div>
<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-0-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d4b/class_foot_swing_trajectory__coll__graph.png" border="0" usemap="#_foot_swing_trajectory_3_01_t_01_4_coll__map" alt="Collaboration graph"/></div>
<map name="_foot_swing_trajectory_3_01_t_01_4_coll__map" id="_foot_swing_trajectory_3_01_t_01_4_coll__map">
</map>
</div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a691bcb8c5f6151d6e1305c9fabc4e1fa"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a691bcb8c5f6151d6e1305c9fabc4e1fa">FootSwingTrajectory</a> ()</td></tr>
<tr class="separator:a691bcb8c5f6151d6e1305c9fabc4e1fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a88b371a6a4c19f474ddda15a5c5f2607"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a88b371a6a4c19f474ddda15a5c5f2607">setInitialPosition</a> (<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; p0)</td></tr>
<tr class="separator:a88b371a6a4c19f474ddda15a5c5f2607"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b2122976e13c7facfad869d7aea6297"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a4b2122976e13c7facfad869d7aea6297">setFinalPosition</a> (<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; pf)</td></tr>
<tr class="separator:a4b2122976e13c7facfad869d7aea6297"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa95fc7baab3e68c0724895e558e4bd59"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#aa95fc7baab3e68c0724895e558e4bd59">setHeight</a> (T h)</td></tr>
<tr class="separator:aa95fc7baab3e68c0724895e558e4bd59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c34c869e91d99add45184522a6ec37e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a3c34c869e91d99add45184522a6ec37e">computeSwingTrajectoryBezier</a> (T phase, T swingTime)</td></tr>
<tr class="separator:a3c34c869e91d99add45184522a6ec37e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1414ee26c5b7eb04fc6848e78fef0432"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a1414ee26c5b7eb04fc6848e78fef0432">getPosition</a> ()</td></tr>
<tr class="separator:a1414ee26c5b7eb04fc6848e78fef0432"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a14fc41b61b779b60355439d796cc7616"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a14fc41b61b779b60355439d796cc7616">getVelocity</a> ()</td></tr>
<tr class="separator:a14fc41b61b779b60355439d796cc7616"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25c0e8076ce29ac9a69825e8e67cbe31"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a25c0e8076ce29ac9a69825e8e67cbe31">getAcceleration</a> ()</td></tr>
<tr class="separator:a25c0e8076ce29ac9a69825e8e67cbe31"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a4511d8e868b83974a482024d32e448a7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a></td></tr>
<tr class="separator:a4511d8e868b83974a482024d32e448a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c6b87353e83c955e2bd61310d333df9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a></td></tr>
<tr class="separator:a6c6b87353e83c955e2bd61310d333df9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae057dc09e8ddddd9a778d115987df3b9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">_p</a></td></tr>
<tr class="separator:ae057dc09e8ddddd9a778d115987df3b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad135d95f7308b99b6a5a4edb201af7e4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">_v</a></td></tr>
<tr class="separator:ad135d95f7308b99b6a5a4edb201af7e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a761b1398ee29bec3e63cf2e91965f733"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">_a</a></td></tr>
<tr class="separator:a761b1398ee29bec3e63cf2e91965f733"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a60ba27e3babfec8ce0b2ddd634b43730"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a></td></tr>
<tr class="separator:a60ba27e3babfec8ce0b2ddd634b43730"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class FootSwingTrajectory&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00012">12</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a691bcb8c5f6151d6e1305c9fabc4e1fa"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::<a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00014">14</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

<p>References <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_a</a>, <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00051">FootSwingTrajectory&lt; T &gt;::_height</a>, <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_p</a>, <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_p0</a>, <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_pf</a>, and <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_v</a>.</p>
<div class="fragment"><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;                        {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a>.setZero();</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a>.setZero();</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">_p</a>.setZero();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">_v</a>.setZero();</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">_a</a>.setZero();</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a> = 0;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  }</div><div class="ttc" id="class_foot_swing_trajectory_html_a4511d8e868b83974a482024d32e448a7"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">FootSwingTrajectory::_p0</a></div><div class="ttdeci">Vec3&lt; T &gt; _p0</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_ad135d95f7308b99b6a5a4edb201af7e4"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">FootSwingTrajectory::_v</a></div><div class="ttdeci">Vec3&lt; T &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a6c6b87353e83c955e2bd61310d333df9"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">FootSwingTrajectory::_pf</a></div><div class="ttdeci">Vec3&lt; T &gt; _pf</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a761b1398ee29bec3e63cf2e91965f733"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">FootSwingTrajectory::_a</a></div><div class="ttdeci">Vec3&lt; T &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a60ba27e3babfec8ce0b2ddd634b43730"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">FootSwingTrajectory::_height</a></div><div class="ttdeci">T _height</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00051">FootSwingTrajectory.h:51</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_ae057dc09e8ddddd9a778d115987df3b9"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">FootSwingTrajectory::_p</a></div><div class="ttdeci">Vec3&lt; T &gt; _p</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
</div><!-- fragment -->
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="a3c34c869e91d99add45184522a6ec37e"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::computeSwingTrajectoryBezier </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>phase</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>swingTime</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Compute foot swing trajectory with a bezier curve </p><dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">T</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">phase</td><td></td></tr>
    <tr><td class="paramname">swingTime</td><td></td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../dc/dff/_foot_swing_trajectory_8cpp_source.html#l00011">11</a> of file <a class="el" href="../../dc/dff/_foot_swing_trajectory_8cpp_source.html">FootSwingTrajectory.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;                                                                              {</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">_p</a> = Interpolate::cubicBezier&lt;Vec3&lt;T&gt;&gt;(<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a>, <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a>, phase);</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">_v</a> = Interpolate::cubicBezierFirstDerivative&lt;Vec3&lt;T&gt;&gt;(<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a>, <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a>, phase) / swingTime;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">_a</a> = Interpolate::cubicBezierSecondDerivative&lt;Vec3&lt;T&gt;&gt;(<a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a>, <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a>, phase) / (swingTime * swingTime);</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  T zp, zv, za;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keywordflow">if</span>(phase &lt; T(0.5)) {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    zp = Interpolate::cubicBezier&lt;T&gt;(_p0[2], _p0[2] + <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a>, phase * 2);</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    zv = Interpolate::cubicBezierFirstDerivative&lt;T&gt;(_p0[2], _p0[2] + <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a>, phase * 2) * 2 / swingTime;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    za = Interpolate::cubicBezierSecondDerivative&lt;T&gt;(_p0[2], _p0[2] + <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a>, phase * 2) * 4 / (swingTime * swingTime);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    zp = Interpolate::cubicBezier&lt;T&gt;(_p0[2] + <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a>, _pf[2], phase * 2 - 1);</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    zv = Interpolate::cubicBezierFirstDerivative&lt;T&gt;(_p0[2] + <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a>, _pf[2], phase * 2 - 1) * 2 / swingTime;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    za = Interpolate::cubicBezierSecondDerivative&lt;T&gt;(_p0[2] + <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a>, _pf[2], phase * 2 - 1) * 4 / (swingTime * swingTime);</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  }</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">_p</a>[2] = zp;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  _v[2] = zv;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  _a[2] = za;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}</div><div class="ttc" id="class_foot_swing_trajectory_html_a4511d8e868b83974a482024d32e448a7"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">FootSwingTrajectory::_p0</a></div><div class="ttdeci">Vec3&lt; T &gt; _p0</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_ad135d95f7308b99b6a5a4edb201af7e4"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">FootSwingTrajectory::_v</a></div><div class="ttdeci">Vec3&lt; T &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a6c6b87353e83c955e2bd61310d333df9"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">FootSwingTrajectory::_pf</a></div><div class="ttdeci">Vec3&lt; T &gt; _pf</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a761b1398ee29bec3e63cf2e91965f733"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">FootSwingTrajectory::_a</a></div><div class="ttdeci">Vec3&lt; T &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_a60ba27e3babfec8ce0b2ddd634b43730"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">FootSwingTrajectory::_height</a></div><div class="ttdeci">T _height</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00051">FootSwingTrajectory.h:51</a></div></div>
<div class="ttc" id="class_foot_swing_trajectory_html_ae057dc09e8ddddd9a778d115987df3b9"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">FootSwingTrajectory::_p</a></div><div class="ttdeci">Vec3&lt; T &gt; _p</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-1-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-1-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d2d/class_foot_swing_trajectory_a3c34c869e91d99add45184522a6ec37e_icgraph.png" border="0" usemap="#da/d2d/class_foot_swing_trajectory_a3c34c869e91d99add45184522a6ec37e_icgraph" alt=""/></div>
<map name="da/d2d/class_foot_swing_trajectory_a3c34c869e91d99add45184522a6ec37e_icgraph" id="da/d2d/class_foot_swing_trajectory_a3c34c869e91d99add45184522a6ec37e_icgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="a25c0e8076ce29ac9a69825e8e67cbe31"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::getAcceleration </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00045">45</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

<p>References <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_a</a>.</p>
<div class="fragment"><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                            {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">_a</a>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div><div class="ttc" id="class_foot_swing_trajectory_html_a761b1398ee29bec3e63cf2e91965f733"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a761b1398ee29bec3e63cf2e91965f733">FootSwingTrajectory::_a</a></div><div class="ttdeci">Vec3&lt; T &gt; _a</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-2" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-2-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-2-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-2-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d2d/class_foot_swing_trajectory_a25c0e8076ce29ac9a69825e8e67cbe31_icgraph.png" border="0" usemap="#da/d2d/class_foot_swing_trajectory_a25c0e8076ce29ac9a69825e8e67cbe31_icgraph" alt=""/></div>
<map name="da/d2d/class_foot_swing_trajectory_a25c0e8076ce29ac9a69825e8e67cbe31_icgraph" id="da/d2d/class_foot_swing_trajectory_a25c0e8076ce29ac9a69825e8e67cbe31_icgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="a1414ee26c5b7eb04fc6848e78fef0432"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::getPosition </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00037">37</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

<p>References <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_p</a>.</p>
<div class="fragment"><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                        {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">_p</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div><div class="ttc" id="class_foot_swing_trajectory_html_ae057dc09e8ddddd9a778d115987df3b9"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#ae057dc09e8ddddd9a778d115987df3b9">FootSwingTrajectory::_p</a></div><div class="ttdeci">Vec3&lt; T &gt; _p</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-3" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-3-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-3-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-3-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d2d/class_foot_swing_trajectory_a1414ee26c5b7eb04fc6848e78fef0432_icgraph.png" border="0" usemap="#da/d2d/class_foot_swing_trajectory_a1414ee26c5b7eb04fc6848e78fef0432_icgraph" alt=""/></div>
<map name="da/d2d/class_foot_swing_trajectory_a1414ee26c5b7eb04fc6848e78fef0432_icgraph" id="da/d2d/class_foot_swing_trajectory_a1414ee26c5b7eb04fc6848e78fef0432_icgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="a14fc41b61b779b60355439d796cc7616"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::getVelocity </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00041">41</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

<p>References <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_v</a>.</p>
<div class="fragment"><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                        {</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">_v</a>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  }</div><div class="ttc" id="class_foot_swing_trajectory_html_ad135d95f7308b99b6a5a4edb201af7e4"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#ad135d95f7308b99b6a5a4edb201af7e4">FootSwingTrajectory::_v</a></div><div class="ttdeci">Vec3&lt; T &gt; _v</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-4" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-4-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-4-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-4-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d2d/class_foot_swing_trajectory_a14fc41b61b779b60355439d796cc7616_icgraph.png" border="0" usemap="#da/d2d/class_foot_swing_trajectory_a14fc41b61b779b60355439d796cc7616_icgraph" alt=""/></div>
<map name="da/d2d/class_foot_swing_trajectory_a14fc41b61b779b60355439d796cc7616_icgraph" id="da/d2d/class_foot_swing_trajectory_a14fc41b61b779b60355439d796cc7616_icgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="a4b2122976e13c7facfad869d7aea6297"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::setFinalPosition </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td>
          <td class="paramname"><em>pf</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00027">27</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

<p>References <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_pf</a>.</p>
<div class="fragment"><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                                    {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">_pf</a> = pf;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  }</div><div class="ttc" id="class_foot_swing_trajectory_html_a6c6b87353e83c955e2bd61310d333df9"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a6c6b87353e83c955e2bd61310d333df9">FootSwingTrajectory::_pf</a></div><div class="ttdeci">Vec3&lt; T &gt; _pf</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-5" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-5-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-5-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-5-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d2d/class_foot_swing_trajectory_a4b2122976e13c7facfad869d7aea6297_icgraph.png" border="0" usemap="#da/d2d/class_foot_swing_trajectory_a4b2122976e13c7facfad869d7aea6297_icgraph" alt=""/></div>
<map name="da/d2d/class_foot_swing_trajectory_a4b2122976e13c7facfad869d7aea6297_icgraph" id="da/d2d/class_foot_swing_trajectory_a4b2122976e13c7facfad869d7aea6297_icgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="aa95fc7baab3e68c0724895e558e4bd59"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::setHeight </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>h</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00031">31</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

<p>References <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00051">FootSwingTrajectory&lt; T &gt;::_height</a>, and <a class="el" href="../../dc/dff/_foot_swing_trajectory_8cpp_source.html#l00011">FootSwingTrajectory&lt; T &gt;::computeSwingTrajectoryBezier()</a>.</p>
<div class="fragment"><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                      {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">_height</a> = h;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div><div class="ttc" id="class_foot_swing_trajectory_html_a60ba27e3babfec8ce0b2ddd634b43730"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a60ba27e3babfec8ce0b2ddd634b43730">FootSwingTrajectory::_height</a></div><div class="ttdeci">T _height</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00051">FootSwingTrajectory.h:51</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-6" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-6-trigger" src="../../closed.png" alt="+"/> Here is the call graph for this function:</div>
<div id="dynsection-6-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-6-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d2d/class_foot_swing_trajectory_aa95fc7baab3e68c0724895e558e4bd59_cgraph.png" border="0" usemap="#da/d2d/class_foot_swing_trajectory_aa95fc7baab3e68c0724895e558e4bd59_cgraph" alt=""/></div>
<map name="da/d2d/class_foot_swing_trajectory_aa95fc7baab3e68c0724895e558e4bd59_cgraph" id="da/d2d/class_foot_swing_trajectory_aa95fc7baab3e68c0724895e558e4bd59_cgraph">
</map>
</div>
</p>

<p><div id="dynsection-7" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-7-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-7-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-7-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d2d/class_foot_swing_trajectory_aa95fc7baab3e68c0724895e558e4bd59_icgraph.png" border="0" usemap="#da/d2d/class_foot_swing_trajectory_aa95fc7baab3e68c0724895e558e4bd59_icgraph" alt=""/></div>
<map name="da/d2d/class_foot_swing_trajectory_aa95fc7baab3e68c0724895e558e4bd59_icgraph" id="da/d2d/class_foot_swing_trajectory_aa95fc7baab3e68c0724895e558e4bd59_icgraph">
</map>
</div>
</p>

</div>
</div>
<a class="anchor" id="a88b371a6a4c19f474ddda15a5c5f2607"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::setInitialPosition </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td>
          <td class="paramname"><em>p0</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00023">23</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

<p>References <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory&lt; T &gt;::_p0</a>.</p>
<div class="fragment"><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                                      {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <a class="code" href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">_p0</a> = p0;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  }</div><div class="ttc" id="class_foot_swing_trajectory_html_a4511d8e868b83974a482024d32e448a7"><div class="ttname"><a href="../../da/d2d/class_foot_swing_trajectory.html#a4511d8e868b83974a482024d32e448a7">FootSwingTrajectory::_p0</a></div><div class="ttdeci">Vec3&lt; T &gt; _p0</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">FootSwingTrajectory.h:50</a></div></div>
</div><!-- fragment -->
<p><div id="dynsection-8" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-8-trigger" src="../../closed.png" alt="+"/> Here is the caller graph for this function:</div>
<div id="dynsection-8-summary" class="dynsummary" style="display:block;">
</div>
<div id="dynsection-8-content" class="dyncontent" style="display:none;">
<div class="center"><img src="../../da/d2d/class_foot_swing_trajectory_a88b371a6a4c19f474ddda15a5c5f2607_icgraph.png" border="0" usemap="#da/d2d/class_foot_swing_trajectory_a88b371a6a4c19f474ddda15a5c5f2607_icgraph" alt=""/></div>
<map name="da/d2d/class_foot_swing_trajectory_a88b371a6a4c19f474ddda15a5c5f2607_icgraph" id="da/d2d/class_foot_swing_trajectory_a88b371a6a4c19f474ddda15a5c5f2607_icgraph">
</map>
</div>
</p>

</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a class="anchor" id="a761b1398ee29bec3e63cf2e91965f733"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::_a</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">50</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

</div>
</div>
<a class="anchor" id="a60ba27e3babfec8ce0b2ddd634b43730"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">T <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::_height</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00051">51</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

</div>
</div>
<a class="anchor" id="ae057dc09e8ddddd9a778d115987df3b9"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::_p</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">50</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

</div>
</div>
<a class="anchor" id="a4511d8e868b83974a482024d32e448a7"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::_p0</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">50</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

</div>
</div>
<a class="anchor" id="a6c6b87353e83c955e2bd61310d333df9"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::_pf</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">50</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

</div>
</div>
<a class="anchor" id="ad135d95f7308b99b6a5a4edb201af7e4"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a>&lt; T &gt;::_v</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html#l00050">50</a> of file <a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="../../d9/d40/_foot_swing_trajectory_8h_source.html">FootSwingTrajectory.h</a></li>
<li><a class="el" href="../../dc/dff/_foot_swing_trajectory_8cpp_source.html">FootSwingTrajectory.cpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="../../da/d2d/class_foot_swing_trajectory.html">FootSwingTrajectory</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="../../doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
